YASKAWA UAK series User Manual page 214

Reference Selection
Select a reference pattern from the Reference Selection box or create the reference pattern by directly
entering the values.
As the setting for maximum acceleration increases, the accuracy of the inertia identification tends to
improve.
Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and set the
maximum acceleration within the operable range.
Confirm
Click Confirm to view the driving pattern.
Detailed Setting
Create the reference pattern for setting the moment of inertia (mass) by changing the values with the
slider or by directly entering the values.
Next>
Click Next to view the Reference Transmission box.
Cancel
Click Cancel to return to the main window without changing the conditions.
• The amount of movement is the value for each operation (a forward run or a reverse run). After several opera-
tions, the operation starting position may have moved in either direction. Confirm the operable range before each
measurement and operation.
• Certain settings for the parameters or inertia size of the machine may result in overshooting or undershooting, and
cause the speed to temporarily exceed the maximum speed. Allow a margin when making the settings.
<If the moment of inertia (mass) ratio cannot be measured accurately>
If the torque (force) is limited, the moment of inertia (mass) ratio identification cannot be made correctly. Adjust the set-
ting of the limit or decrease the acceleration in Reference Selection so that the torque (force) will not be limited
4.
Click Next. The following window appears.
Start
Click to Start to transfer the reference conditions to the SERVOPACK. A progress bar displays the
progress status of the transfer.
CAUTION
9.2 Advanced Autotuning
9-13
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